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In this report, we present the system design, operational strategy, andresults of coordinated multi-vehicle field demonstrations of autonomous marinerobotic technologies in search-for-life missions within the Pacific shelfmargin of Costa Rica and the Santorini-Kolumbo caldera complex, which serve asanalogs to environments that may exist in oceans beyond Earth. This reportfocuses on the automation of ROV manipulator operations for targeted biologicalsample-collection-and-return from the seafloor. In the context of futureextraterrestrial exploration missions to ocean worlds, an ROV is an analog to aplanetary lander, which must be capable of high-level autonomy. Our fieldtrials involve two underwater vehicles, the SuBastian ROV and the Nereid UnderIce (NUI) hybrid ROV for mixed initiative (i.e., teleoperated or autonomous)missions, both equipped 7-DoF hydraulic manipulators. We describe an adaptable,hardware-independent computer vision architecture that enables high-levelautomated manipulation. The vision system provides a 3D understanding of theworkspace to inform manipulator motion planning in complex unstructuredenvironments. We demonstrate the effectiveness of the vision system and controlframework through field trials in increasingly challenging environments,including the automated collection and return of biological samples from withinthe active undersea volcano, Kolumbo. Based on our experiences in the field, wediscuss the performance of our system and identify promising directions forfuture research.

Towards Automated Sample Collection and Return in Extreme Underwater Environments